多源融合SLAM的现状与挑战

同时定位与地图构建（simultaneous localization and mapping,SLAM）技术在过去几十年中取得了惊人的进步,并在现实生活中实现了大规模的应用。由于精度和鲁棒性的不足,以及场景的复杂性,使用单一传感器（如相机、激光雷达）的SLAM系统往往无法适应目标需求,故研究者们逐步探索并改进多源融合的SLAM解决方案。本文从3个层面回顾总结该领域的现有方法：1）多传感器融合（由两种及以上传感器组成的混合系统,如相机、激光雷达和惯性测量单元,可分为松耦合、紧耦合）;2）多特征基元融合（点、线、面、其他高维几何特征等与直接法相结合）;3）多维度信息融合（几何、语义、物理信息和深度神经网络的推理信息等相融合）。惯性测量单元和视觉、激光雷达的融合可以解决视觉里程计的漂移和尺度丢失问题,提高系统在非结构化或退化场景中的鲁棒性。此外,不同几何特征基元的融合,可以大大减少有效约束的程度,并可为自主导航任务提供更多的有用信息。另外,数据驱动下的基于深度学习的策略为SLAM系统开辟了新的道路。监督学习、无监督学习和混合监督学习等逐渐应用于SLAM系统的各个模块,如相对姿势估计、地图表示、闭环检测和后端优化等。学习方法与传统方法的结合将是提升SLAM系统性能的有效途径。本文分别对上述多源融合SLAM方法进行分析归纳,并指出其面临的挑战及未来发展方向。     

Detailed analysis on injection timing retardation and simultaneous technology in a biodiesel-powered compression ignition engine

ABSTRACT

This detailed study focuses mainly on the reduction of oxides of nitrogen emissions from CI engines. It also discusses about other emissions and performance parameters. Injection timing retardation and simultaneous technology methods have been employed for controlling oxides of nitrogen emissions by many researchers. This review paper studies on injection timing retardation and simultaneous technology and its effects on various operating parameters carried out in a biodiesel-powered CI engines. The objective of this work is to find the significance of injection parameters such as retardation of injection timing and simultaneous technology on the various emission parameters. This paper also deals upon the various methods of retardation of injection timing and simultaneous technology to examine the emissions such as HC, CO, NO_x, smoke, and particulate matters. The present study showed that widespread review on CI engine emission characteristics in a CI engine fuelled with biodiesel blends.     

Refined second-order reliability analysis

A refined second-order method is presented for structural reliability analysis. Exact and approximate reliability solutions are obtained for a circular shaft subject to random bending moments and a random torque. The comparison of the approximate results with exact ones shows that the first-order approximation is only applicable to the case where the failure surface is “far” from the origin, while the suggested second-order approximation yields quite accurate results even if the failure surface is “close” to the origin.     

浅谈超短波无线同播网在消防通信指挥中的应用

介绍了无线同播系统的技术特点及工作原理，与目前消防无线通信指挥常用的几种通信系统进行了比较，指出了无线同播网所具有的优势。     

错层位巷道布置在煤与瓦斯共采上的应用构想

随着煤矿开采深度和强度不断增加,瓦斯灾害的发生概率也随之增大,煤与瓦斯共采技术逐渐得到重视。本文致力于为提高煤矿瓦斯抽采率,实现高瓦斯矿井安全、高效生产找到更多可能的有效方法。通过对错层位巷道布置开采首采工作面之后其上覆岩层运动特点进行总结分析,试着从改革巷道布置方面着手,将错层位巷道布置与现有煤与瓦斯共采技术结合,从而提出了错层位巷道布置在煤与卸压瓦斯共采上的应用构想。文中做出了相应的预测,认为采用这种方法,比用传统方法抽采瓦斯在安全、经济方面更具优势,需要通过具体工程实践进行验证。     

Removal of Hg0 from flue gas using two homogeneous photo‐fenton‐like reactions

Removal of Hg⁰ using two homogeneous Photo‐Fenton‐Like reactions was first investigated in a photochemical reactor. Effects of process parameters on Hg⁰ removal were studied. Free radical and reaction products were analyzed. Removal pathways of Hg⁰ were discussed. Simultaneous removal of Hg⁰, NO, and SO₂ is also studied briefly. The results show that UV power, wavelength, H₂O₂ concentration, and solution pH have great effects on Hg⁰ removal. Hg⁰, and SO₂ concentrations, solution temperature, Fe³⁺, Cu²⁺, , and concentrations also have significant effects on Hg⁰ removal. However, concentrations of CO₂, NO, O₂, Cl^?, , , SiO₂, Al₂O₃, and Fe₂O₃ only have slight effects on Hg⁰ removal. Hg⁰/NO/SO₂ can be simultaneously removed by Photo‐Fenton‐Like reactions. ·OH was captured, and / /Hg²⁺ were also detected. Removals of Hg⁰ by photochemical oxidation and ·OH oxidation play a major role, and removal of Hg⁰ by H₂O₂ oxidation only plays a secondary role in removal of Hg⁰. © 2015 American Institute of Chemical Engineers AIChE J, 61: 1322–1333, 2015     

鲜云南松露的挥发性香成分分析

采用顶空固相微萃取(SPME)法和同时蒸馏萃取(SDE)法提取鲜云南松露中的挥发性风味成分,利用气相色谱-质谱联用技术对挥发性风味成分进行分离鉴定。结果表明,经过GC-MS分析,共鉴定出77种挥发性成分,包括烃类5种、醛类14种、酮类12种、酸类4种、酯类2种、醇酚类10种、醚类2种、含硫含氮及其他杂环化合物28种。其中醛类、醇酚类和含硫含氮及其他杂环化合物对松露的特殊风味有着重要的影响。     

超短脉冲激光诱导透明材料多光子吸收的研究进展

超短激光脉冲可直接诱导透明材料的多光子吸收上转换荧光过程,它在红外探测、新型激光器、海底光学通信、高密度存储以及三维立体显示等前沿的国防和工业科技领域有着广泛的应用。上转换过程的研究目前主要集中在稀土离子和过渡金属离子能级跃迁的机制上,随着机制材料以及受激离子的不同,光子跃迁的机制也不完全相同,因此上转换机制始终伴随着新材料的出现而发展。介绍了上转换过程的种类,将多光子吸收上转换过程用依次吸收与同时吸收进行分类,给出了在实验研究中分辨上转换过程的方法,并讨论了多光子同时吸收的双光子与三光子过程的研究进展和应用,为今后研究不同光功能材料的多光子吸收过程和应用提供了理论依据。     

Reusable Floating Beads with Immobilized Xylose-Fermenting Yeast Cells for Simultaneous Saccharification and Fermentation of Lime-Pretreated Rice Straw

Novel bioreactor beads for simultaneous saccharification and fermentation (SSF) of lime-pretreated rice straw (RS) into ethanol were prepared. Genetically modified Saccharomyces cerevisiae cells expressing genes encoding xylose reductase, xylitol dehydrogenase, and xylulokinase were immobilized in calcium alginate beads containing inorganic lightweight filler particles to reduce specific gravity. For SSF experiments, the beads were floated in slurry composed of lime-pretreated RS and enzymes and incubated under CO₂ atmosphere to reduce the pH for saccharification and fermentation. Following this reaction, beads were readily picked up from the upper part of the slurry and were directly transferred to the next vessel with slurry. After 240 h of incubation, ethanol production by the beads was equivalent to that by free cells, a trend that was repeated in nine additional runs, with slightly improved ethanol yields. Slurry with pre-saccharified lime-pretreated RS was subjected to SSF with floating beads for 168 h. Although higher cell concentrations in beads resulted in more rapid initial ethanol production rates, with negligible diauxic behavior for glucose and xylose utilization, no improvement in the ethanol yield was observed. A fermentor-scale SSF experiment with floating beads was successfully performed twice, with repeated use of the beads, resulting in the production of 40.0 and 39.7 g/L ethanol. There was no decomposition of the beads during agitation at 60 rpm. Thus, this bioreactor enables reuse of yeast cells for efficient ethanol production by SSF of lignocellulosic feedstock, without the need for instruments for centrifugation or filtration of whole slurry.     

Solving the location-routing problem with simultaneous pickup and delivery by simulated annealing

The study concerns the location-routing problem with simultaneous pickup and delivery (LRPSPD) in which the pickup and delivery take place at the same time for each customer. The goal is to determine the facility locations and vehicle routes in order to minimise the total system cost as a sum of facility opening cost, vehicle fixed cost and vehicle travel cost. A simulated annealing (SA) heuristic is proposed for the problem and extensive computational experiments are conducted. The results show that the proposed SA effectively solves LRPSPD and outperforms existing exact approaches in terms of solution quality.